File size: 4,787 Bytes
82223c9 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 | #!/usr/bin/env bash
set -euo pipefail
# Run COLMAP's panorama_sfm.py on frames prepared as:
# DATA_ROOT/<split>/<scene>/<clip_id>/images/%04d.jpg
#
# Required:
# DATA_ROOT Root containing train/test scene folders.
# PANO_SCRIPT Path to COLMAP's python/examples/panorama_sfm.py.
#
# Optional:
# OUT_ROOT Output root. Defaults to DATA_ROOT.
# GPU_IDS Space-separated GPU ids. Defaults to "0".
# MATCHER COLMAP matcher. Defaults to "sequential".
# PANO_RENDER_TYPE Defaults to "non-overlapping".
# SPLIT_FILTER train | test | all. Defaults to all.
# MIN_IMAGES Minimum panoramic frames per sequence. Defaults to 2.
DATA_ROOT="${DATA_ROOT:-}"
OUT_ROOT="${OUT_ROOT:-$DATA_ROOT}"
PANO_SCRIPT="${PANO_SCRIPT:-}"
GPU_IDS="${GPU_IDS:-0}"
MATCHER="${MATCHER:-sequential}"
PANO_RENDER_TYPE="${PANO_RENDER_TYPE:-non-overlapping}"
SPLIT_FILTER="${SPLIT_FILTER:-all}"
MIN_IMAGES="${MIN_IMAGES:-2}"
MASTER_LOG="$OUT_ROOT/panorama_sfm.log"
if [[ -z "$DATA_ROOT" ]]; then
echo "[ERROR] DATA_ROOT is required"
exit 1
fi
if [[ -z "$PANO_SCRIPT" || ! -f "$PANO_SCRIPT" ]]; then
echo "[ERROR] PANO_SCRIPT must point to COLMAP's panorama_sfm.py"
exit 1
fi
if [[ "$SPLIT_FILTER" != "train" && "$SPLIT_FILTER" != "test" && "$SPLIT_FILTER" != "all" ]]; then
echo "[ERROR] SPLIT_FILTER must be train, test, or all"
exit 1
fi
mkdir -p "$OUT_ROOT"
IFS=' ' read -r -a GPU_ID_LIST <<< "$GPU_IDS"
declare -A GPU_PIDS
has_complete_sparse() {
local out_dir="$1"
[[ -f "$out_dir/sparse/0/cameras.bin" && -f "$out_dir/sparse/0/images.bin" && -f "$out_dir/sparse/0/points3D.bin" ]]
}
wait_for_free_gpu() {
while true; do
for gpu in "${GPU_ID_LIST[@]}"; do
local pid="${GPU_PIDS[$gpu]-}"
if [[ -z "$pid" ]] || ! kill -0 "$pid" 2>/dev/null; then
GPU_PIDS[$gpu]=""
echo "$gpu"
return 0
fi
done
sleep 3
done
}
start_colmap_job() {
local gpu="$1"
local img_dir="$2"
local out_dir="$3"
local desc="$4"
mkdir -p "$out_dir"
echo "[INFO] COLMAP start GPU=$gpu $desc" | tee -a "$MASTER_LOG"
(
set +e
export CUDA_VISIBLE_DEVICES="$gpu"
python "$PANO_SCRIPT" \
--input_image_path "$img_dir" \
--output_path "$out_dir" \
--matcher "$MATCHER" \
--pano_render_type "$PANO_RENDER_TYPE" \
> "$out_dir/run.log" 2>&1
status=$?
if [[ "$status" -ne 0 ]]; then
echo "[WARN] COLMAP failed status=$status $out_dir" >> "$MASTER_LOG"
else
echo "[INFO] COLMAP done $out_dir" >> "$MASTER_LOG"
fi
) &
GPU_PIDS["$gpu"]=$!
}
LIST_TSV="$OUT_ROOT/panorama_sfm_list.tsv"
python - <<'PY' "$DATA_ROOT" "$LIST_TSV" "$SPLIT_FILTER"
import os
import sys
data_root, out_path, split_filter = sys.argv[1:4]
splits = ("train", "test") if split_filter == "all" else (split_filter,)
rows = []
for split in splits:
split_dir = os.path.join(data_root, split)
if not os.path.isdir(split_dir):
continue
for scene in sorted(os.listdir(split_dir)):
scene_dir = os.path.join(split_dir, scene)
if not os.path.isdir(scene_dir):
continue
for clip_id in sorted(os.listdir(scene_dir)):
clip_dir = os.path.join(scene_dir, clip_id)
img_dir = os.path.join(clip_dir, "images")
if os.path.isdir(img_dir):
rows.append((split, scene, clip_id, img_dir))
os.makedirs(os.path.dirname(out_path), exist_ok=True)
with open(out_path, "w", encoding="utf-8") as f:
for row in rows:
f.write("\t".join(row) + "\n")
PY
echo "[INFO] DATA_ROOT=$DATA_ROOT" | tee -a "$MASTER_LOG"
echo "[INFO] OUT_ROOT=$OUT_ROOT" | tee -a "$MASTER_LOG"
echo "[INFO] PANO_SCRIPT=$PANO_SCRIPT" | tee -a "$MASTER_LOG"
echo "[INFO] GPU_IDS=$GPU_IDS MATCHER=$MATCHER PANO_RENDER_TYPE=$PANO_RENDER_TYPE SPLIT_FILTER=$SPLIT_FILTER" | tee -a "$MASTER_LOG"
exec 3< "$LIST_TSV"
while IFS=$'\t' read -r split scene clip_id img_dir <&3; do
[[ -z "$split" ]] && continue
img_count=$(find "$img_dir" -maxdepth 1 -type f \( -iname '*.jpg' -o -iname '*.jpeg' -o -iname '*.png' \) | wc -l | tr -d ' ')
if [[ "$img_count" -lt "$MIN_IMAGES" ]]; then
echo "[WARN] too few images count=$img_count $img_dir" | tee -a "$MASTER_LOG"
continue
fi
out_dir="$OUT_ROOT/$split/$scene/$clip_id/colmap_nonoverlap"
if has_complete_sparse "$out_dir"; then
echo "[INFO] skip existing $out_dir" | tee -a "$MASTER_LOG"
continue
fi
gpu=$(wait_for_free_gpu)
start_colmap_job "$gpu" "$img_dir" "$out_dir" "$split/$scene/$clip_id images=$img_count"
done
exec 3<&-
for gpu in "${GPU_ID_LIST[@]}"; do
pid="${GPU_PIDS[$gpu]-}"
if [[ -n "$pid" ]]; then
wait "$pid" || true
fi
done
echo "[INFO] done $(date '+%F %T')" | tee -a "$MASTER_LOG"
|